Implement absolute orientation instruments for odometry system integrated with Gyroscope by using IKF

Abstract

In this paper, absolute orientation instruments using compass are mainly proposed to estimate absolute orientation errors combined with estimated position and orientation from differential odometry integrated with gyroscope to calculate absolute orientation of mobile robot. In the method, the indirect Kalman filter is mainly used to estimate absolute orientation errors and the estimated errors are fed back to odometry system, and also estimates some parameter errors to correct encoder and gyroscope error. The simulation and experiment results show the estimated position and orientation of odometry system integrated with gyroscope, systematic errors of encoder and gyroscope and absolute orientation from compass compared with odometry system integrated with gyroscope.